warp-lang 1.0.1__py3-none-manylinux2014_x86_64.whl → 1.1.0__py3-none-manylinux2014_x86_64.whl

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Files changed (346) hide show
  1. warp/__init__.py +108 -97
  2. warp/__init__.pyi +1 -1
  3. warp/bin/warp-clang.so +0 -0
  4. warp/bin/warp.so +0 -0
  5. warp/build.py +115 -113
  6. warp/build_dll.py +383 -375
  7. warp/builtins.py +3425 -3354
  8. warp/codegen.py +2878 -2792
  9. warp/config.py +40 -36
  10. warp/constants.py +45 -45
  11. warp/context.py +5194 -5102
  12. warp/dlpack.py +442 -442
  13. warp/examples/__init__.py +16 -16
  14. warp/examples/assets/bear.usd +0 -0
  15. warp/examples/assets/bunny.usd +0 -0
  16. warp/examples/assets/cartpole.urdf +110 -110
  17. warp/examples/assets/crazyflie.usd +0 -0
  18. warp/examples/assets/cube.usd +0 -0
  19. warp/examples/assets/nv_ant.xml +92 -92
  20. warp/examples/assets/nv_humanoid.xml +183 -183
  21. warp/examples/assets/quadruped.urdf +267 -267
  22. warp/examples/assets/rocks.nvdb +0 -0
  23. warp/examples/assets/rocks.usd +0 -0
  24. warp/examples/assets/sphere.usd +0 -0
  25. warp/examples/benchmarks/benchmark_api.py +383 -383
  26. warp/examples/benchmarks/benchmark_cloth.py +278 -279
  27. warp/examples/benchmarks/benchmark_cloth_cupy.py +88 -88
  28. warp/examples/benchmarks/benchmark_cloth_jax.py +97 -100
  29. warp/examples/benchmarks/benchmark_cloth_numba.py +146 -142
  30. warp/examples/benchmarks/benchmark_cloth_numpy.py +77 -77
  31. warp/examples/benchmarks/benchmark_cloth_pytorch.py +86 -86
  32. warp/examples/benchmarks/benchmark_cloth_taichi.py +112 -112
  33. warp/examples/benchmarks/benchmark_cloth_warp.py +146 -146
  34. warp/examples/benchmarks/benchmark_launches.py +295 -295
  35. warp/examples/browse.py +29 -28
  36. warp/examples/core/example_dem.py +234 -221
  37. warp/examples/core/example_fluid.py +293 -267
  38. warp/examples/core/example_graph_capture.py +144 -129
  39. warp/examples/core/example_marching_cubes.py +188 -176
  40. warp/examples/core/example_mesh.py +174 -154
  41. warp/examples/core/example_mesh_intersect.py +205 -193
  42. warp/examples/core/example_nvdb.py +176 -169
  43. warp/examples/core/example_raycast.py +105 -89
  44. warp/examples/core/example_raymarch.py +199 -178
  45. warp/examples/core/example_render_opengl.py +185 -141
  46. warp/examples/core/example_sph.py +405 -389
  47. warp/examples/core/example_torch.py +222 -181
  48. warp/examples/core/example_wave.py +263 -249
  49. warp/examples/fem/bsr_utils.py +378 -380
  50. warp/examples/fem/example_apic_fluid.py +407 -391
  51. warp/examples/fem/example_convection_diffusion.py +182 -168
  52. warp/examples/fem/example_convection_diffusion_dg.py +219 -209
  53. warp/examples/fem/example_convection_diffusion_dg0.py +204 -194
  54. warp/examples/fem/example_deformed_geometry.py +177 -159
  55. warp/examples/fem/example_diffusion.py +201 -173
  56. warp/examples/fem/example_diffusion_3d.py +177 -152
  57. warp/examples/fem/example_diffusion_mgpu.py +221 -214
  58. warp/examples/fem/example_mixed_elasticity.py +244 -222
  59. warp/examples/fem/example_navier_stokes.py +259 -243
  60. warp/examples/fem/example_stokes.py +220 -192
  61. warp/examples/fem/example_stokes_transfer.py +265 -249
  62. warp/examples/fem/mesh_utils.py +133 -109
  63. warp/examples/fem/plot_utils.py +292 -287
  64. warp/examples/optim/example_bounce.py +260 -248
  65. warp/examples/optim/example_cloth_throw.py +222 -210
  66. warp/examples/optim/example_diffray.py +566 -535
  67. warp/examples/optim/example_drone.py +864 -835
  68. warp/examples/optim/example_inverse_kinematics.py +176 -169
  69. warp/examples/optim/example_inverse_kinematics_torch.py +185 -170
  70. warp/examples/optim/example_spring_cage.py +239 -234
  71. warp/examples/optim/example_trajectory.py +223 -201
  72. warp/examples/optim/example_walker.py +306 -292
  73. warp/examples/sim/example_cartpole.py +139 -128
  74. warp/examples/sim/example_cloth.py +196 -184
  75. warp/examples/sim/example_granular.py +124 -113
  76. warp/examples/sim/example_granular_collision_sdf.py +197 -185
  77. warp/examples/sim/example_jacobian_ik.py +236 -213
  78. warp/examples/sim/example_particle_chain.py +118 -106
  79. warp/examples/sim/example_quadruped.py +193 -179
  80. warp/examples/sim/example_rigid_chain.py +197 -189
  81. warp/examples/sim/example_rigid_contact.py +189 -176
  82. warp/examples/sim/example_rigid_force.py +127 -126
  83. warp/examples/sim/example_rigid_gyroscopic.py +109 -97
  84. warp/examples/sim/example_rigid_soft_contact.py +134 -124
  85. warp/examples/sim/example_soft_body.py +190 -178
  86. warp/fabric.py +337 -335
  87. warp/fem/__init__.py +60 -27
  88. warp/fem/cache.py +401 -388
  89. warp/fem/dirichlet.py +178 -179
  90. warp/fem/domain.py +262 -263
  91. warp/fem/field/__init__.py +100 -101
  92. warp/fem/field/field.py +148 -149
  93. warp/fem/field/nodal_field.py +298 -299
  94. warp/fem/field/restriction.py +22 -21
  95. warp/fem/field/test.py +180 -181
  96. warp/fem/field/trial.py +183 -183
  97. warp/fem/geometry/__init__.py +15 -19
  98. warp/fem/geometry/closest_point.py +69 -70
  99. warp/fem/geometry/deformed_geometry.py +270 -271
  100. warp/fem/geometry/element.py +744 -744
  101. warp/fem/geometry/geometry.py +184 -186
  102. warp/fem/geometry/grid_2d.py +380 -373
  103. warp/fem/geometry/grid_3d.py +441 -435
  104. warp/fem/geometry/hexmesh.py +953 -953
  105. warp/fem/geometry/partition.py +374 -376
  106. warp/fem/geometry/quadmesh_2d.py +532 -532
  107. warp/fem/geometry/tetmesh.py +840 -840
  108. warp/fem/geometry/trimesh_2d.py +577 -577
  109. warp/fem/integrate.py +1630 -1615
  110. warp/fem/operator.py +190 -191
  111. warp/fem/polynomial.py +214 -213
  112. warp/fem/quadrature/__init__.py +2 -2
  113. warp/fem/quadrature/pic_quadrature.py +243 -245
  114. warp/fem/quadrature/quadrature.py +295 -294
  115. warp/fem/space/__init__.py +294 -292
  116. warp/fem/space/basis_space.py +488 -489
  117. warp/fem/space/collocated_function_space.py +100 -105
  118. warp/fem/space/dof_mapper.py +236 -236
  119. warp/fem/space/function_space.py +148 -145
  120. warp/fem/space/grid_2d_function_space.py +267 -267
  121. warp/fem/space/grid_3d_function_space.py +305 -306
  122. warp/fem/space/hexmesh_function_space.py +350 -352
  123. warp/fem/space/partition.py +350 -350
  124. warp/fem/space/quadmesh_2d_function_space.py +368 -369
  125. warp/fem/space/restriction.py +158 -160
  126. warp/fem/space/shape/__init__.py +13 -15
  127. warp/fem/space/shape/cube_shape_function.py +738 -738
  128. warp/fem/space/shape/shape_function.py +102 -103
  129. warp/fem/space/shape/square_shape_function.py +611 -611
  130. warp/fem/space/shape/tet_shape_function.py +565 -567
  131. warp/fem/space/shape/triangle_shape_function.py +429 -429
  132. warp/fem/space/tetmesh_function_space.py +294 -292
  133. warp/fem/space/topology.py +297 -295
  134. warp/fem/space/trimesh_2d_function_space.py +223 -221
  135. warp/fem/types.py +77 -77
  136. warp/fem/utils.py +495 -495
  137. warp/jax.py +166 -141
  138. warp/jax_experimental.py +341 -339
  139. warp/native/array.h +1072 -1025
  140. warp/native/builtin.h +1560 -1560
  141. warp/native/bvh.cpp +398 -398
  142. warp/native/bvh.cu +525 -525
  143. warp/native/bvh.h +429 -429
  144. warp/native/clang/clang.cpp +495 -464
  145. warp/native/crt.cpp +31 -31
  146. warp/native/crt.h +334 -334
  147. warp/native/cuda_crt.h +1049 -1049
  148. warp/native/cuda_util.cpp +549 -540
  149. warp/native/cuda_util.h +288 -203
  150. warp/native/cutlass_gemm.cpp +34 -34
  151. warp/native/cutlass_gemm.cu +372 -372
  152. warp/native/error.cpp +66 -66
  153. warp/native/error.h +27 -27
  154. warp/native/fabric.h +228 -228
  155. warp/native/hashgrid.cpp +301 -278
  156. warp/native/hashgrid.cu +78 -77
  157. warp/native/hashgrid.h +227 -227
  158. warp/native/initializer_array.h +32 -32
  159. warp/native/intersect.h +1204 -1204
  160. warp/native/intersect_adj.h +365 -365
  161. warp/native/intersect_tri.h +322 -322
  162. warp/native/marching.cpp +2 -2
  163. warp/native/marching.cu +497 -497
  164. warp/native/marching.h +2 -2
  165. warp/native/mat.h +1498 -1498
  166. warp/native/matnn.h +333 -333
  167. warp/native/mesh.cpp +203 -203
  168. warp/native/mesh.cu +293 -293
  169. warp/native/mesh.h +1887 -1887
  170. warp/native/nanovdb/NanoVDB.h +4782 -4782
  171. warp/native/nanovdb/PNanoVDB.h +2553 -2553
  172. warp/native/nanovdb/PNanoVDBWrite.h +294 -294
  173. warp/native/noise.h +850 -850
  174. warp/native/quat.h +1084 -1084
  175. warp/native/rand.h +299 -299
  176. warp/native/range.h +108 -108
  177. warp/native/reduce.cpp +156 -156
  178. warp/native/reduce.cu +348 -348
  179. warp/native/runlength_encode.cpp +61 -61
  180. warp/native/runlength_encode.cu +46 -46
  181. warp/native/scan.cpp +30 -30
  182. warp/native/scan.cu +36 -36
  183. warp/native/scan.h +7 -7
  184. warp/native/solid_angle.h +442 -442
  185. warp/native/sort.cpp +94 -94
  186. warp/native/sort.cu +97 -97
  187. warp/native/sort.h +14 -14
  188. warp/native/sparse.cpp +337 -337
  189. warp/native/sparse.cu +544 -544
  190. warp/native/spatial.h +630 -630
  191. warp/native/svd.h +562 -562
  192. warp/native/temp_buffer.h +30 -30
  193. warp/native/vec.h +1132 -1132
  194. warp/native/volume.cpp +297 -297
  195. warp/native/volume.cu +32 -32
  196. warp/native/volume.h +538 -538
  197. warp/native/volume_builder.cu +425 -425
  198. warp/native/volume_builder.h +19 -19
  199. warp/native/warp.cpp +1057 -1052
  200. warp/native/warp.cu +2943 -2828
  201. warp/native/warp.h +313 -305
  202. warp/optim/__init__.py +9 -9
  203. warp/optim/adam.py +120 -120
  204. warp/optim/linear.py +1104 -939
  205. warp/optim/sgd.py +104 -92
  206. warp/render/__init__.py +10 -10
  207. warp/render/render_opengl.py +3217 -3204
  208. warp/render/render_usd.py +768 -749
  209. warp/render/utils.py +152 -150
  210. warp/sim/__init__.py +52 -59
  211. warp/sim/articulation.py +685 -685
  212. warp/sim/collide.py +1594 -1590
  213. warp/sim/import_mjcf.py +489 -481
  214. warp/sim/import_snu.py +220 -221
  215. warp/sim/import_urdf.py +536 -516
  216. warp/sim/import_usd.py +887 -881
  217. warp/sim/inertia.py +316 -317
  218. warp/sim/integrator.py +234 -233
  219. warp/sim/integrator_euler.py +1956 -1956
  220. warp/sim/integrator_featherstone.py +1910 -1991
  221. warp/sim/integrator_xpbd.py +3294 -3312
  222. warp/sim/model.py +4473 -4314
  223. warp/sim/particles.py +113 -112
  224. warp/sim/render.py +417 -403
  225. warp/sim/utils.py +413 -410
  226. warp/sparse.py +1227 -1227
  227. warp/stubs.py +2109 -2469
  228. warp/tape.py +1162 -225
  229. warp/tests/__init__.py +1 -1
  230. warp/tests/__main__.py +4 -4
  231. warp/tests/assets/torus.usda +105 -105
  232. warp/tests/aux_test_class_kernel.py +26 -26
  233. warp/tests/aux_test_compile_consts_dummy.py +10 -10
  234. warp/tests/aux_test_conditional_unequal_types_kernels.py +21 -21
  235. warp/tests/aux_test_dependent.py +22 -22
  236. warp/tests/aux_test_grad_customs.py +23 -23
  237. warp/tests/aux_test_reference.py +11 -11
  238. warp/tests/aux_test_reference_reference.py +10 -10
  239. warp/tests/aux_test_square.py +17 -17
  240. warp/tests/aux_test_unresolved_func.py +14 -14
  241. warp/tests/aux_test_unresolved_symbol.py +14 -14
  242. warp/tests/disabled_kinematics.py +239 -239
  243. warp/tests/run_coverage_serial.py +31 -31
  244. warp/tests/test_adam.py +157 -157
  245. warp/tests/test_arithmetic.py +1124 -1124
  246. warp/tests/test_array.py +2417 -2326
  247. warp/tests/test_array_reduce.py +150 -150
  248. warp/tests/test_async.py +668 -656
  249. warp/tests/test_atomic.py +141 -141
  250. warp/tests/test_bool.py +204 -149
  251. warp/tests/test_builtins_resolution.py +1292 -1292
  252. warp/tests/test_bvh.py +164 -171
  253. warp/tests/test_closest_point_edge_edge.py +228 -228
  254. warp/tests/test_codegen.py +566 -553
  255. warp/tests/test_compile_consts.py +97 -101
  256. warp/tests/test_conditional.py +246 -246
  257. warp/tests/test_copy.py +232 -215
  258. warp/tests/test_ctypes.py +632 -632
  259. warp/tests/test_dense.py +67 -67
  260. warp/tests/test_devices.py +91 -98
  261. warp/tests/test_dlpack.py +530 -529
  262. warp/tests/test_examples.py +400 -378
  263. warp/tests/test_fabricarray.py +955 -955
  264. warp/tests/test_fast_math.py +62 -54
  265. warp/tests/test_fem.py +1277 -1278
  266. warp/tests/test_fp16.py +130 -130
  267. warp/tests/test_func.py +338 -337
  268. warp/tests/test_generics.py +571 -571
  269. warp/tests/test_grad.py +746 -640
  270. warp/tests/test_grad_customs.py +333 -336
  271. warp/tests/test_hash_grid.py +210 -164
  272. warp/tests/test_import.py +39 -39
  273. warp/tests/test_indexedarray.py +1134 -1134
  274. warp/tests/test_intersect.py +67 -67
  275. warp/tests/test_jax.py +307 -307
  276. warp/tests/test_large.py +167 -164
  277. warp/tests/test_launch.py +354 -354
  278. warp/tests/test_lerp.py +261 -261
  279. warp/tests/test_linear_solvers.py +191 -171
  280. warp/tests/test_lvalue.py +421 -493
  281. warp/tests/test_marching_cubes.py +65 -65
  282. warp/tests/test_mat.py +1801 -1827
  283. warp/tests/test_mat_lite.py +115 -115
  284. warp/tests/test_mat_scalar_ops.py +2907 -2889
  285. warp/tests/test_math.py +126 -193
  286. warp/tests/test_matmul.py +500 -499
  287. warp/tests/test_matmul_lite.py +410 -410
  288. warp/tests/test_mempool.py +188 -190
  289. warp/tests/test_mesh.py +284 -324
  290. warp/tests/test_mesh_query_aabb.py +228 -241
  291. warp/tests/test_mesh_query_point.py +692 -702
  292. warp/tests/test_mesh_query_ray.py +292 -303
  293. warp/tests/test_mlp.py +276 -276
  294. warp/tests/test_model.py +110 -110
  295. warp/tests/test_modules_lite.py +39 -39
  296. warp/tests/test_multigpu.py +163 -163
  297. warp/tests/test_noise.py +248 -248
  298. warp/tests/test_operators.py +250 -250
  299. warp/tests/test_options.py +123 -125
  300. warp/tests/test_peer.py +133 -137
  301. warp/tests/test_pinned.py +78 -78
  302. warp/tests/test_print.py +54 -54
  303. warp/tests/test_quat.py +2086 -2086
  304. warp/tests/test_rand.py +288 -288
  305. warp/tests/test_reload.py +217 -217
  306. warp/tests/test_rounding.py +179 -179
  307. warp/tests/test_runlength_encode.py +190 -190
  308. warp/tests/test_sim_grad.py +243 -0
  309. warp/tests/test_sim_kinematics.py +91 -97
  310. warp/tests/test_smoothstep.py +168 -168
  311. warp/tests/test_snippet.py +305 -266
  312. warp/tests/test_sparse.py +468 -460
  313. warp/tests/test_spatial.py +2148 -2148
  314. warp/tests/test_streams.py +486 -473
  315. warp/tests/test_struct.py +710 -675
  316. warp/tests/test_tape.py +173 -148
  317. warp/tests/test_torch.py +743 -743
  318. warp/tests/test_transient_module.py +87 -87
  319. warp/tests/test_types.py +556 -659
  320. warp/tests/test_utils.py +490 -499
  321. warp/tests/test_vec.py +1264 -1268
  322. warp/tests/test_vec_lite.py +73 -73
  323. warp/tests/test_vec_scalar_ops.py +2099 -2099
  324. warp/tests/test_verify_fp.py +94 -94
  325. warp/tests/test_volume.py +737 -736
  326. warp/tests/test_volume_write.py +255 -265
  327. warp/tests/unittest_serial.py +37 -37
  328. warp/tests/unittest_suites.py +363 -359
  329. warp/tests/unittest_utils.py +603 -578
  330. warp/tests/unused_test_misc.py +71 -71
  331. warp/tests/walkthrough_debug.py +85 -85
  332. warp/thirdparty/appdirs.py +598 -598
  333. warp/thirdparty/dlpack.py +143 -143
  334. warp/thirdparty/unittest_parallel.py +566 -561
  335. warp/torch.py +321 -295
  336. warp/types.py +4504 -4450
  337. warp/utils.py +1008 -821
  338. {warp_lang-1.0.1.dist-info → warp_lang-1.1.0.dist-info}/LICENSE.md +126 -126
  339. {warp_lang-1.0.1.dist-info → warp_lang-1.1.0.dist-info}/METADATA +338 -400
  340. warp_lang-1.1.0.dist-info/RECORD +352 -0
  341. warp/examples/assets/cube.usda +0 -42
  342. warp/examples/assets/sphere.usda +0 -56
  343. warp/examples/assets/torus.usda +0 -105
  344. warp_lang-1.0.1.dist-info/RECORD +0 -352
  345. {warp_lang-1.0.1.dist-info → warp_lang-1.1.0.dist-info}/WHEEL +0 -0
  346. {warp_lang-1.0.1.dist-info → warp_lang-1.1.0.dist-info}/top_level.txt +0 -0
@@ -1,383 +1,383 @@
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- # Copyright (c) 2022 NVIDIA CORPORATION. All rights reserved.
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- # NVIDIA CORPORATION and its licensors retain all intellectual property
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- # and proprietary rights in and to this software, related documentation
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- # and any modifications thereto. Any use, reproduction, disclosure or
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- # distribution of this software and related documentation without an express
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- # license agreement from NVIDIA CORPORATION is strictly prohibited.
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-
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- import gc
9
- import statistics as stats
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- import warp as wp
11
-
12
-
13
- ENABLE_MEMPOOLS = False
14
- ENABLE_PEER_ACCESS = False
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- ENABLE_MEMPOOL_ACCESS = False
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- ENABLE_MEMPOOL_RELEASE_THRESHOLD = False
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-
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- MEMPOOL_RELEASE_THRESHOLD = 1024 * 1024 * 1024
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-
20
- DO_SYNC = False
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- VERBOSE = False
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- USE_NVTX = False
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-
24
- num_elems = 10000
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- num_runs = 10000
26
- trim_runs = 2500
27
-
28
-
29
- @wp.kernel
30
- def inc_kernel(a: wp.array(dtype=float)):
31
- tid = wp.tid()
32
- a[tid] = a[tid] + 1.0
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-
34
-
35
- wp.init()
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-
37
- # configure devices
38
- for target_device in wp.get_cuda_devices():
39
- try:
40
- wp.set_mempool_enabled(target_device, ENABLE_MEMPOOLS)
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- if ENABLE_MEMPOOL_RELEASE_THRESHOLD:
42
- wp.set_mempool_release_threshold(target_device, MEMPOOL_RELEASE_THRESHOLD)
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- except Exception as e:
44
- print(f"Error: {e}")
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-
46
- for peer_device in wp.get_cuda_devices():
47
- try:
48
- wp.set_peer_access_enabled(target_device, peer_device, ENABLE_PEER_ACCESS)
49
- except Exception as e:
50
- print(f"Error: {e}")
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-
52
- try:
53
- wp.set_mempool_access_enabled(target_device, peer_device, ENABLE_MEMPOOL_ACCESS)
54
- except Exception as e:
55
- print(f"Error: {e}")
56
-
57
- cuda_device_count = wp.get_cuda_device_count()
58
-
59
- cuda0 = wp.get_device("cuda:0")
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-
61
- # preallocate some arrays
62
- arr_host = wp.zeros(num_elems, dtype=float, device="cpu", pinned=False)
63
- arr_host_pinned = wp.zeros(num_elems, dtype=float, device="cpu", pinned=True)
64
- arr_cuda0 = wp.zeros(num_elems, dtype=float, device=cuda0)
65
- arr_cuda0_src = wp.zeros(num_elems, dtype=float, device=cuda0)
66
- arr_cuda0_dst = wp.zeros(num_elems, dtype=float, device=cuda0)
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-
68
- # mgpu support
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- if cuda_device_count > 1:
70
- cuda1 = wp.get_device("cuda:1")
71
- arr_cuda1 = wp.zeros(num_elems, dtype=float, device=cuda1)
72
-
73
- stream0 = wp.Stream(cuda0)
74
-
75
- # preload module
76
- wp.force_load(cuda0)
77
- if cuda_device_count > 1:
78
- wp.force_load(cuda1)
79
-
80
- # capture graph
81
- with wp.ScopedDevice(cuda0):
82
- wp.capture_begin()
83
- wp.launch(inc_kernel, dim=arr_cuda0.size, inputs=[arr_cuda0])
84
- graph0 = wp.capture_end()
85
-
86
-
87
- g_allocs = [None] * num_runs
88
-
89
-
90
- def test_alloc(num_elems, device, idx):
91
- wp.synchronize()
92
-
93
- with wp.ScopedTimer("alloc", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
94
- g_allocs[idx] = wp.empty(num_elems, dtype=float, device=device)
95
-
96
- if DO_SYNC:
97
- wp.synchronize_device(device)
98
-
99
- return timer.elapsed
100
-
101
-
102
- def test_free(device, idx):
103
- wp.synchronize()
104
-
105
- with wp.ScopedTimer("free", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
106
- g_allocs[idx] = None
107
-
108
- if DO_SYNC:
109
- wp.synchronize_device(device)
110
-
111
- return timer.elapsed
112
-
113
-
114
- def test_zeros(num_elems, device, idx):
115
- wp.synchronize()
116
-
117
- with wp.ScopedTimer("zeros", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
118
- g_allocs[idx] = wp.zeros(num_elems, dtype=float, device=device)
119
-
120
- if DO_SYNC:
121
- wp.synchronize_device(device)
122
-
123
- return timer.elapsed
124
-
125
-
126
- def test_h2d(num_elems, device):
127
- wp.synchronize()
128
-
129
- with wp.ScopedTimer("h2d", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
130
- wp.copy(arr_cuda0, arr_host)
131
-
132
- if DO_SYNC:
133
- wp.synchronize_device(device)
134
-
135
- return timer.elapsed
136
-
137
-
138
- def test_d2h(num_elems, device):
139
- wp.synchronize()
140
-
141
- with wp.ScopedTimer("d2h", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
142
- wp.copy(arr_host, arr_cuda0)
143
-
144
- if DO_SYNC:
145
- wp.synchronize_device(device)
146
-
147
- return timer.elapsed
148
-
149
-
150
- def test_h2d_pinned(num_elems, device):
151
- wp.synchronize()
152
-
153
- with wp.ScopedTimer("h2d pinned", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
154
- wp.copy(arr_cuda0, arr_host_pinned)
155
-
156
- if DO_SYNC:
157
- wp.synchronize_device(device)
158
-
159
- return timer.elapsed
160
-
161
-
162
- def test_d2h_pinned(num_elems, device):
163
- wp.synchronize()
164
-
165
- with wp.ScopedTimer("d2h pinned", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
166
- wp.copy(arr_host_pinned, arr_cuda0)
167
-
168
- if DO_SYNC:
169
- wp.synchronize_device(device)
170
-
171
- return timer.elapsed
172
-
173
-
174
- def test_d2d(num_elems, device):
175
- wp.synchronize()
176
-
177
- with wp.ScopedTimer("d2d", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
178
- wp.copy(arr_cuda0_dst, arr_cuda0_src)
179
-
180
- if DO_SYNC:
181
- wp.synchronize_device(device)
182
-
183
- return timer.elapsed
184
-
185
-
186
- def test_p2p(num_elems, src_device, dst_device):
187
- wp.synchronize()
188
-
189
- with wp.ScopedTimer("p2p", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
190
- wp.copy(arr_cuda0, arr_cuda1)
191
-
192
- if DO_SYNC:
193
- wp.synchronize_device(src_device)
194
- wp.synchronize_device(dst_device)
195
-
196
- return timer.elapsed
197
-
198
-
199
- def test_p2p_stream(num_elems, src_device, dst_device):
200
- stream = stream0
201
-
202
- wp.synchronize()
203
-
204
- with wp.ScopedTimer("p2p stream", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
205
- wp.copy(arr_cuda0, arr_cuda1, stream=stream)
206
-
207
- if DO_SYNC:
208
- wp.synchronize_device(src_device)
209
- wp.synchronize_device(dst_device)
210
-
211
- return timer.elapsed
212
-
213
-
214
- def test_launch(num_elems, device):
215
- a = arr_cuda0
216
-
217
- wp.synchronize()
218
-
219
- with wp.ScopedTimer("launch", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
220
- wp.launch(inc_kernel, dim=a.size, inputs=[a], device=device)
221
-
222
- if DO_SYNC:
223
- wp.synchronize_device(device)
224
-
225
- return timer.elapsed
226
-
227
-
228
- def test_launch_stream(num_elems, device):
229
- a = arr_cuda0
230
- stream = stream0
231
-
232
- wp.synchronize()
233
-
234
- with wp.ScopedTimer("launch stream", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
235
- wp.launch(inc_kernel, dim=a.size, inputs=[a], stream=stream)
236
-
237
- if DO_SYNC:
238
- wp.synchronize_device(device)
239
-
240
- return timer.elapsed
241
-
242
-
243
- def test_graph(num_elems, device):
244
- wp.synchronize()
245
-
246
- with wp.ScopedTimer("graph", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
247
- wp.capture_launch(graph0)
248
-
249
- if DO_SYNC:
250
- wp.synchronize_device(device)
251
-
252
- return timer.elapsed
253
-
254
-
255
- def test_graph_stream(num_elems, device):
256
- wp.synchronize()
257
-
258
- with wp.ScopedTimer("graph", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
259
- wp.capture_launch(graph0, stream=stream0)
260
-
261
- if DO_SYNC:
262
- wp.synchronize_device(device)
263
-
264
- return timer.elapsed
265
-
266
-
267
- alloc_times = [0] * num_runs
268
- free_times = [0] * num_runs
269
- zeros_times = [0] * num_runs
270
- d2h_times = [0] * num_runs
271
- h2d_times = [0] * num_runs
272
- d2h_pinned_times = [0] * num_runs
273
- h2d_pinned_times = [0] * num_runs
274
- d2d_times = [0] * num_runs
275
- p2p_times = [0] * num_runs
276
- p2p_stream_times = [0] * num_runs
277
- launch_times = [0] * num_runs
278
- launch_stream_times = [0] * num_runs
279
- graph_times = [0] * num_runs
280
- graph_stream_times = [0] * num_runs
281
-
282
- wp.set_device(cuda0)
283
-
284
- # alloc
285
- for i in range(num_runs):
286
- gc.disable()
287
- alloc_times[i] = test_alloc(num_elems, cuda0, i)
288
- gc.enable()
289
-
290
- # free
291
- for i in range(num_runs):
292
- gc.disable()
293
- free_times[i] = test_free(cuda0, i)
294
- gc.enable()
295
-
296
- # zeros
297
- for i in range(num_runs):
298
- gc.disable()
299
- zeros_times[i] = test_zeros(num_elems, cuda0, i)
300
- gc.enable()
301
-
302
- # free zeros
303
- for i in range(num_runs):
304
- g_allocs[i] = None
305
-
306
- # h2d, d2h pageable copy
307
- for i in range(num_runs):
308
- gc.disable()
309
- h2d_times[i] = test_h2d(num_elems, cuda0)
310
- d2h_times[i] = test_d2h(num_elems, cuda0)
311
- gc.enable()
312
-
313
- # h2d, d2h pinned copy
314
- for i in range(num_runs):
315
- gc.disable()
316
- h2d_pinned_times[i] = test_h2d_pinned(num_elems, cuda0)
317
- d2h_pinned_times[i] = test_d2h_pinned(num_elems, cuda0)
318
- gc.enable()
319
-
320
- # d2d copy
321
- for i in range(num_runs):
322
- gc.disable()
323
- d2d_times[i] = test_d2d(num_elems, cuda0)
324
- gc.enable()
325
-
326
- # p2p copy
327
- if cuda_device_count > 1:
328
- for i in range(num_runs):
329
- gc.disable()
330
- p2p_times[i] = test_p2p(num_elems, cuda1, cuda0)
331
- p2p_stream_times[i] = test_p2p_stream(num_elems, cuda1, cuda0)
332
- gc.enable()
333
-
334
- # launch
335
- for i in range(num_runs):
336
- gc.disable()
337
- launch_times[i] = test_launch(num_elems, cuda0)
338
- launch_stream_times[i] = test_launch_stream(num_elems, cuda0)
339
- gc.enable()
340
-
341
- # graph
342
- for i in range(num_runs):
343
- gc.disable()
344
- graph_times[i] = test_graph(num_elems, cuda0)
345
- graph_stream_times[i] = test_graph_stream(num_elems, cuda0)
346
- gc.enable()
347
-
348
-
349
- def print_stat(name, data, trim=trim_runs):
350
- assert(len(data) - 2 * trim > 0)
351
- if trim > 0:
352
- data = sorted(data)[trim:-trim]
353
- print(f"{name:15s} {1000000 * stats.mean(data):.0f}")
354
-
355
-
356
- print("=========================")
357
- print_stat("Alloc", alloc_times)
358
- print_stat("Free", free_times)
359
- print_stat("Zeros", zeros_times)
360
- print_stat("H2D", h2d_times)
361
- print_stat("D2H", d2h_times)
362
- print_stat("H2D pinned", h2d_pinned_times)
363
- print_stat("D2H pinned", d2h_pinned_times)
364
- print_stat("D2D", d2d_times)
365
- print_stat("P2P", p2p_times)
366
- print_stat("P2P stream", p2p_stream_times)
367
- print_stat("Launch", launch_times)
368
- print_stat("Launch stream", launch_stream_times)
369
- print_stat("Graph", graph_times)
370
- print_stat("Graph stream", graph_stream_times)
371
-
372
-
373
- # ========= profiling ==========
374
-
375
- # from pyinstrument import Profiler
376
- # profiler = Profiler()
377
- # profiler.start()
378
- # for i in range(10):
379
- # # test_alloc(num_elems, cuda0)
380
- # # test_h2d(num_elems, cuda0)
381
- # test_p2p(num_elems, cuda0, cuda1)
382
- # profiler.stop()
383
- # print(profiler.output_text(show_all=True))
1
+ # Copyright (c) 2022 NVIDIA CORPORATION. All rights reserved.
2
+ # NVIDIA CORPORATION and its licensors retain all intellectual property
3
+ # and proprietary rights in and to this software, related documentation
4
+ # and any modifications thereto. Any use, reproduction, disclosure or
5
+ # distribution of this software and related documentation without an express
6
+ # license agreement from NVIDIA CORPORATION is strictly prohibited.
7
+
8
+ import gc
9
+ import statistics as stats
10
+
11
+ import warp as wp
12
+
13
+ ENABLE_MEMPOOLS = False
14
+ ENABLE_PEER_ACCESS = False
15
+ ENABLE_MEMPOOL_ACCESS = False
16
+ ENABLE_MEMPOOL_RELEASE_THRESHOLD = False
17
+
18
+ MEMPOOL_RELEASE_THRESHOLD = 1024 * 1024 * 1024
19
+
20
+ DO_SYNC = False
21
+ VERBOSE = False
22
+ USE_NVTX = False
23
+
24
+ num_elems = 10000
25
+ num_runs = 10000
26
+ trim_runs = 2500
27
+
28
+
29
+ @wp.kernel
30
+ def inc_kernel(a: wp.array(dtype=float)):
31
+ tid = wp.tid()
32
+ a[tid] = a[tid] + 1.0
33
+
34
+
35
+ wp.init()
36
+
37
+ # configure devices
38
+ for target_device in wp.get_cuda_devices():
39
+ try:
40
+ wp.set_mempool_enabled(target_device, ENABLE_MEMPOOLS)
41
+ if ENABLE_MEMPOOL_RELEASE_THRESHOLD:
42
+ wp.set_mempool_release_threshold(target_device, MEMPOOL_RELEASE_THRESHOLD)
43
+ except Exception as e:
44
+ print(f"Error: {e}")
45
+
46
+ for peer_device in wp.get_cuda_devices():
47
+ try:
48
+ wp.set_peer_access_enabled(target_device, peer_device, ENABLE_PEER_ACCESS)
49
+ except Exception as e:
50
+ print(f"Error: {e}")
51
+
52
+ try:
53
+ wp.set_mempool_access_enabled(target_device, peer_device, ENABLE_MEMPOOL_ACCESS)
54
+ except Exception as e:
55
+ print(f"Error: {e}")
56
+
57
+ cuda_device_count = wp.get_cuda_device_count()
58
+
59
+ cuda0 = wp.get_device("cuda:0")
60
+
61
+ # preallocate some arrays
62
+ arr_host = wp.zeros(num_elems, dtype=float, device="cpu", pinned=False)
63
+ arr_host_pinned = wp.zeros(num_elems, dtype=float, device="cpu", pinned=True)
64
+ arr_cuda0 = wp.zeros(num_elems, dtype=float, device=cuda0)
65
+ arr_cuda0_src = wp.zeros(num_elems, dtype=float, device=cuda0)
66
+ arr_cuda0_dst = wp.zeros(num_elems, dtype=float, device=cuda0)
67
+
68
+ # mgpu support
69
+ if cuda_device_count > 1:
70
+ cuda1 = wp.get_device("cuda:1")
71
+ arr_cuda1 = wp.zeros(num_elems, dtype=float, device=cuda1)
72
+
73
+ stream0 = wp.Stream(cuda0)
74
+
75
+ # preload module
76
+ wp.force_load(cuda0)
77
+ if cuda_device_count > 1:
78
+ wp.force_load(cuda1)
79
+
80
+ # capture graph
81
+ with wp.ScopedDevice(cuda0):
82
+ wp.capture_begin()
83
+ wp.launch(inc_kernel, dim=arr_cuda0.size, inputs=[arr_cuda0])
84
+ graph0 = wp.capture_end()
85
+
86
+
87
+ g_allocs = [None] * num_runs
88
+
89
+
90
+ def test_alloc(num_elems, device, idx):
91
+ wp.synchronize()
92
+
93
+ with wp.ScopedTimer("alloc", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
94
+ g_allocs[idx] = wp.empty(num_elems, dtype=float, device=device)
95
+
96
+ if DO_SYNC:
97
+ wp.synchronize_device(device)
98
+
99
+ return timer.elapsed
100
+
101
+
102
+ def test_free(device, idx):
103
+ wp.synchronize()
104
+
105
+ with wp.ScopedTimer("free", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
106
+ g_allocs[idx] = None
107
+
108
+ if DO_SYNC:
109
+ wp.synchronize_device(device)
110
+
111
+ return timer.elapsed
112
+
113
+
114
+ def test_zeros(num_elems, device, idx):
115
+ wp.synchronize()
116
+
117
+ with wp.ScopedTimer("zeros", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
118
+ g_allocs[idx] = wp.zeros(num_elems, dtype=float, device=device)
119
+
120
+ if DO_SYNC:
121
+ wp.synchronize_device(device)
122
+
123
+ return timer.elapsed
124
+
125
+
126
+ def test_h2d(num_elems, device):
127
+ wp.synchronize()
128
+
129
+ with wp.ScopedTimer("h2d", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
130
+ wp.copy(arr_cuda0, arr_host)
131
+
132
+ if DO_SYNC:
133
+ wp.synchronize_device(device)
134
+
135
+ return timer.elapsed
136
+
137
+
138
+ def test_d2h(num_elems, device):
139
+ wp.synchronize()
140
+
141
+ with wp.ScopedTimer("d2h", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
142
+ wp.copy(arr_host, arr_cuda0)
143
+
144
+ if DO_SYNC:
145
+ wp.synchronize_device(device)
146
+
147
+ return timer.elapsed
148
+
149
+
150
+ def test_h2d_pinned(num_elems, device):
151
+ wp.synchronize()
152
+
153
+ with wp.ScopedTimer("h2d pinned", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
154
+ wp.copy(arr_cuda0, arr_host_pinned)
155
+
156
+ if DO_SYNC:
157
+ wp.synchronize_device(device)
158
+
159
+ return timer.elapsed
160
+
161
+
162
+ def test_d2h_pinned(num_elems, device):
163
+ wp.synchronize()
164
+
165
+ with wp.ScopedTimer("d2h pinned", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
166
+ wp.copy(arr_host_pinned, arr_cuda0)
167
+
168
+ if DO_SYNC:
169
+ wp.synchronize_device(device)
170
+
171
+ return timer.elapsed
172
+
173
+
174
+ def test_d2d(num_elems, device):
175
+ wp.synchronize()
176
+
177
+ with wp.ScopedTimer("d2d", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
178
+ wp.copy(arr_cuda0_dst, arr_cuda0_src)
179
+
180
+ if DO_SYNC:
181
+ wp.synchronize_device(device)
182
+
183
+ return timer.elapsed
184
+
185
+
186
+ def test_p2p(num_elems, src_device, dst_device):
187
+ wp.synchronize()
188
+
189
+ with wp.ScopedTimer("p2p", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
190
+ wp.copy(arr_cuda0, arr_cuda1)
191
+
192
+ if DO_SYNC:
193
+ wp.synchronize_device(src_device)
194
+ wp.synchronize_device(dst_device)
195
+
196
+ return timer.elapsed
197
+
198
+
199
+ def test_p2p_stream(num_elems, src_device, dst_device):
200
+ stream = stream0
201
+
202
+ wp.synchronize()
203
+
204
+ with wp.ScopedTimer("p2p stream", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
205
+ wp.copy(arr_cuda0, arr_cuda1, stream=stream)
206
+
207
+ if DO_SYNC:
208
+ wp.synchronize_device(src_device)
209
+ wp.synchronize_device(dst_device)
210
+
211
+ return timer.elapsed
212
+
213
+
214
+ def test_launch(num_elems, device):
215
+ a = arr_cuda0
216
+
217
+ wp.synchronize()
218
+
219
+ with wp.ScopedTimer("launch", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
220
+ wp.launch(inc_kernel, dim=a.size, inputs=[a], device=device)
221
+
222
+ if DO_SYNC:
223
+ wp.synchronize_device(device)
224
+
225
+ return timer.elapsed
226
+
227
+
228
+ def test_launch_stream(num_elems, device):
229
+ a = arr_cuda0
230
+ stream = stream0
231
+
232
+ wp.synchronize()
233
+
234
+ with wp.ScopedTimer("launch stream", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
235
+ wp.launch(inc_kernel, dim=a.size, inputs=[a], stream=stream)
236
+
237
+ if DO_SYNC:
238
+ wp.synchronize_device(device)
239
+
240
+ return timer.elapsed
241
+
242
+
243
+ def test_graph(num_elems, device):
244
+ wp.synchronize()
245
+
246
+ with wp.ScopedTimer("graph", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
247
+ wp.capture_launch(graph0)
248
+
249
+ if DO_SYNC:
250
+ wp.synchronize_device(device)
251
+
252
+ return timer.elapsed
253
+
254
+
255
+ def test_graph_stream(num_elems, device):
256
+ wp.synchronize()
257
+
258
+ with wp.ScopedTimer("graph", print=VERBOSE, use_nvtx=USE_NVTX) as timer:
259
+ wp.capture_launch(graph0, stream=stream0)
260
+
261
+ if DO_SYNC:
262
+ wp.synchronize_device(device)
263
+
264
+ return timer.elapsed
265
+
266
+
267
+ alloc_times = [0] * num_runs
268
+ free_times = [0] * num_runs
269
+ zeros_times = [0] * num_runs
270
+ d2h_times = [0] * num_runs
271
+ h2d_times = [0] * num_runs
272
+ d2h_pinned_times = [0] * num_runs
273
+ h2d_pinned_times = [0] * num_runs
274
+ d2d_times = [0] * num_runs
275
+ p2p_times = [0] * num_runs
276
+ p2p_stream_times = [0] * num_runs
277
+ launch_times = [0] * num_runs
278
+ launch_stream_times = [0] * num_runs
279
+ graph_times = [0] * num_runs
280
+ graph_stream_times = [0] * num_runs
281
+
282
+ wp.set_device(cuda0)
283
+
284
+ # alloc
285
+ for i in range(num_runs):
286
+ gc.disable()
287
+ alloc_times[i] = test_alloc(num_elems, cuda0, i)
288
+ gc.enable()
289
+
290
+ # free
291
+ for i in range(num_runs):
292
+ gc.disable()
293
+ free_times[i] = test_free(cuda0, i)
294
+ gc.enable()
295
+
296
+ # zeros
297
+ for i in range(num_runs):
298
+ gc.disable()
299
+ zeros_times[i] = test_zeros(num_elems, cuda0, i)
300
+ gc.enable()
301
+
302
+ # free zeros
303
+ for i in range(num_runs):
304
+ g_allocs[i] = None
305
+
306
+ # h2d, d2h pageable copy
307
+ for i in range(num_runs):
308
+ gc.disable()
309
+ h2d_times[i] = test_h2d(num_elems, cuda0)
310
+ d2h_times[i] = test_d2h(num_elems, cuda0)
311
+ gc.enable()
312
+
313
+ # h2d, d2h pinned copy
314
+ for i in range(num_runs):
315
+ gc.disable()
316
+ h2d_pinned_times[i] = test_h2d_pinned(num_elems, cuda0)
317
+ d2h_pinned_times[i] = test_d2h_pinned(num_elems, cuda0)
318
+ gc.enable()
319
+
320
+ # d2d copy
321
+ for i in range(num_runs):
322
+ gc.disable()
323
+ d2d_times[i] = test_d2d(num_elems, cuda0)
324
+ gc.enable()
325
+
326
+ # p2p copy
327
+ if cuda_device_count > 1:
328
+ for i in range(num_runs):
329
+ gc.disable()
330
+ p2p_times[i] = test_p2p(num_elems, cuda1, cuda0)
331
+ p2p_stream_times[i] = test_p2p_stream(num_elems, cuda1, cuda0)
332
+ gc.enable()
333
+
334
+ # launch
335
+ for i in range(num_runs):
336
+ gc.disable()
337
+ launch_times[i] = test_launch(num_elems, cuda0)
338
+ launch_stream_times[i] = test_launch_stream(num_elems, cuda0)
339
+ gc.enable()
340
+
341
+ # graph
342
+ for i in range(num_runs):
343
+ gc.disable()
344
+ graph_times[i] = test_graph(num_elems, cuda0)
345
+ graph_stream_times[i] = test_graph_stream(num_elems, cuda0)
346
+ gc.enable()
347
+
348
+
349
+ def print_stat(name, data, trim=trim_runs):
350
+ assert len(data) - 2 * trim > 0
351
+ if trim > 0:
352
+ data = sorted(data)[trim:-trim]
353
+ print(f"{name:15s} {1000000 * stats.mean(data):.0f}")
354
+
355
+
356
+ print("=========================")
357
+ print_stat("Alloc", alloc_times)
358
+ print_stat("Free", free_times)
359
+ print_stat("Zeros", zeros_times)
360
+ print_stat("H2D", h2d_times)
361
+ print_stat("D2H", d2h_times)
362
+ print_stat("H2D pinned", h2d_pinned_times)
363
+ print_stat("D2H pinned", d2h_pinned_times)
364
+ print_stat("D2D", d2d_times)
365
+ print_stat("P2P", p2p_times)
366
+ print_stat("P2P stream", p2p_stream_times)
367
+ print_stat("Launch", launch_times)
368
+ print_stat("Launch stream", launch_stream_times)
369
+ print_stat("Graph", graph_times)
370
+ print_stat("Graph stream", graph_stream_times)
371
+
372
+
373
+ # ========= profiling ==========
374
+
375
+ # from pyinstrument import Profiler
376
+ # profiler = Profiler()
377
+ # profiler.start()
378
+ # for i in range(10):
379
+ # # test_alloc(num_elems, cuda0)
380
+ # # test_h2d(num_elems, cuda0)
381
+ # test_p2p(num_elems, cuda0, cuda1)
382
+ # profiler.stop()
383
+ # print(profiler.output_text(show_all=True))